Device and method for detecting building blocks immersed in water for ecological retaining wall of river channel

Abstract

A device and method for detecting building blocks immersed in water for a river ecological retaining wall comprises an image pickup head (2) used for picking up image signals of the river ecological retaining wall, a sonic probe (1) used for positioning the image pickup head (2) on the river ecological retaining wall, and a movable articulated arm assembly arranged on the sonic probe (1) and the image pickup head (2). Through the image pick-up head (2), image recognition detection is carried out on building blocks, immersed in water, of the river channel ecological retaining wall, through the sound wave probe (1), detection position positioning of the image pick-up head (2) on the river channel ecological retaining wall is achieved, and through the movable joint arm assembly, the image pick-up head (2) and the sound wave probe (1) are driven to move on the river channel ecological retaining wall. The detection route is arranged on the ecological retaining wall of the river channel, the technical problem that the building blocks need to be detected by manually submerging into water is solved, and therefore the detection effect on the building blocks submerging into the water is improved.

Description

Technical Field

[0001] The invention relates to a device and method for detecting blocks immersed in water, in particular to a device and method for detecting blocks immersed in water used for river ecological retaining walls. Background Art

[0002] A river channel refers to the route through which the river flows, usually a navigable waterway. In order to purify the water quality in the river channel and ensure the water quality of the river channel, it is necessary to install an ecological retaining wall on the slope of the river channel. In order to cultivate plants, it is necessary to install blocks on the retaining wall. Therefore, an immersion block detection device for a river channel ecological retaining wall is an important river channel ecological use device. Among the existing immersion block detection devices for river channel ecological retaining walls, there is no immersion block detection device for river channel ecological retaining walls. It is still necessary to manually dive into the water to detect the blocks. Due to the influence of manual subjective detection, the detection effect of the immersed blocks is affected. The present invention uses the technical feature of setting a detection route on the river ecological retaining wall to effectively explore and study the technical problem that it is necessary to manually dive into the water to detect the blocks. The statements here only provide background technology related to the present invention and do not necessarily constitute prior art. The technical solution of the present invention is made based on the technical briefing document provided by the applicant on June 22, 2024, which solves actual technical problems in the work process, and the existing technical problems, technical features and technical effects in similar patent documents and background technologies obtained through retrieval. Summary of the invention

[0003] The object of the present invention is a detection device for blocks immersed in water for river ecological retaining walls. The object of the present invention is a method for detecting blocks immersed in water for river ecological retaining walls.

[0004] In order to overcome the above technical shortcomings, the purpose of the present invention is to provide a device and method for detecting submerged blocks for river ecological retaining walls, thereby improving the detection effect of submerged blocks.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an immersed block detection device for a river ecological retaining wall, comprising an image pickup head for picking up image signals of the river ecological retaining wall, an acoustic wave probe for positioning the image pickup head on the river ecological retaining wall, and a movable joint arm assembly arranged on the acoustic wave probe and the image pickup head.

[0006] Due to the design of the image pickup head, the ultrasonic probe and the movable joint arm assembly, the image pickup head can be used to perform image recognition detection on the immersed blocks of the river ecological retaining wall, the ultrasonic probe can be used to locate the detection position of the image pickup head on the river ecological retaining wall, and the movable joint arm assembly can be used to drive the image pickup head and the ultrasonic probe to move on the river ecological retaining wall, thereby realizing the setting of a detection route on the river ecological retaining wall, solving the technical problem of requiring manual diving into the water to detect the blocks, thereby improving the detection effect of the blocks immersed in water.

[0007] The present invention is designed to connect the image pickup head, the sonic probe and the movable joint arm assembly to each other in a manner of setting a detection route on the river ecological retaining wall.

[0008] The present invention is designed to connect an image pickup head with a sonic probe and a movable joint arm assembly in a manner of image recognition detection of immersed blocks of a river ecological retaining wall.

[0009] The present invention designs that the movable joint arm assembly comprises an extension arm, a hoist, a telescopic arm, a swing telescopic cylinder, a cylinder shell and a displacement telescopic cylinder.

[0010] The technical effect of the above four technical solutions is: to achieve continuous extraction of image detection of blocks in the river ecological retaining wall, so as to detect the installation position of the blocks.

[0011] The present invention is designed to further include a first accessory device, and the first accessory device is arranged on the movable joint arm assembly, and the first accessory device is arranged as a metal detection head.

[0012] The invention is designed to further include a second accessory device and the second accessory device is arranged on the movable joint arm assembly. The second accessory device is arranged to include a first guide beam, a second guide beam, a lifting and telescopic cylinder and a mobile chassis.

[0013] The technical effects of the above two technical solutions are: realizing the integrated installation of other components, and expanding the technical effects of the present invention.

[0014] The present invention is designed in that a first guide beam and a second guide beam are respectively arranged on a mobile chassis, a cylinder shell is arranged on the first guide beam and the second guide beam, and a lifting telescopic cylinder is arranged between the cylinder shell and the mobile chassis, a telescopic arm is arranged in the cylinder shell, and a displacement telescopic cylinder is arranged between the telescopic arm and the cylinder shell, a probe arm is arranged on the telescopic arm, and a swing telescopic cylinder is arranged between the probe arm and the telescopic arm, and a wave probe, an image pickup head, a metal detection head and a winch are respectively arranged on the probe arm.

[0015] The technical effect of the above technical scheme is that the basic technical scheme of the present invention is formed by an ultrasonic probe, an image pickup head, a metal detection head, a probe arm, a winch, a telescopic arm, a swing telescopic cylinder, a cylinder shell, a displacement telescopic cylinder, a first guide beam, a second guide beam, a lifting telescopic cylinder and a mobile chassis, which solves the technical problem of the present invention.

[0016] The present invention designs that a river channel ecological retaining wall is configured to include piles, crown beams, board walls, retaining walls, anchor rods, blocks and plant bodies, and the piles are configured to be embedded in connection with the inner side surface of the river channel slope, the upper end surface of the piles is configured to be connected with the lower end surface of the end of the crown beam and the inner end surface of the board wall is configured to be covered in connection with the inner side surface of the river channel slope, the outer end surface of the board wall is configured to be contact-connected with the inner end surface of the retaining wall and the anchor rod is configured to be through-connected with the retaining wall, the board wall and the inner side surface of the river channel slope, the outer end surface of the retaining wall is configured to be accommodated in connection with the blocks and the cultivation base located on the plant body is configured to be embedded in connection with the blocks.

[0017] The technical effect of the above technical solution is that it realizes the cultivation of plants on the slope of the river channel and realizes the ecological treatment of the river channel.

[0018] The present invention designs that the sonic probe is arranged as an ultrasonic distance measuring sensor, the shell of the sonic probe is arranged to be connected with the probe arm, and the output interface of the sonic probe is arranged to be connected with the ultrasonic processor.

[0019] The technical effect of the above technical solution is that the pickup of displacement distance signal is realized.

[0020] The present invention designs that the image pickup head is arranged as an underwater camera, the housing of the image pickup head is arranged to be connected with the extension arm, and the output interface of the image pickup head is arranged to be connected with the image processor.

[0021] The technical effect of the above technical solution is: realizing the installation image signal pickup.

[0022] The present invention is designed that the probe arm is configured to include a barrel, an arm, a wheel portion I, a wheel portion II, an ear seat portion, a straight rod portion and an arc rod portion, and a receiving hole body I is provided at the upper end of the vertical portion of the arm, the upper end hole body of the barrel is configured to be connected to the arm in a receiving manner, and the upper part of the peripheral side surface of the barrel is configured to be connected to the ear seat portion, the ear seat portion is respectively configured to be rotatably connected to the wheel portion I and the wheel portion II through a pin shaft, and the wheel portion I and the wheel portion II are respectively configured to be clamped and connected to the arm, the peripheral side surface of the wheel portion I and the peripheral side surface of the wheel portion II are respectively configured to be contact-connected to the vertical portion of the arm, and the lower end surface portion of the barrel is configured to be connected to the straight rod portion The inner end face portion is connected, the lower portion of the peripheral side surface of the part is arranged to be connected to the end face portion of the arc rod portion and the middle portion of the vertical portion of the arm portion is arranged to be connected to the telescopic arm in a through-type manner, the middle portion of the vertical portion of the arm portion is arranged to be rotationally connected to the telescopic arm through a pin shaft and the end of the transverse portion of the arm portion is arranged to be connected to the swing telescopic cylinder through a pin shaft, the accommodating hole body I is arranged to be connected to the winch in an accommodating manner and the ear seat portion is arranged to be connected to the end of the wire rope of the winch, the outer ends of the straight rod portion are respectively arranged to be connected to the ultrasonic probe, the image pickup head and the metal detection head and the arc rod portion is arranged to be connected to the binding rope located on the first guide beam and the second guide beam.

[0023] The present invention is designed that the cylinder portion is configured as a beam-shaped body with a rectangular blind hole and the arm portion is configured as an L-shaped rod-shaped body with a rectangular cross-section, the wheel portion I and the wheel portion II are respectively configured as disc-shaped bodies and the ear seat portion is configured as an N-shaped double-plate ear seat, the straight rod portion is configured as a rod-shaped body and the straight rod portions are configured to be arranged and distributed at intervals along the lower end surface portion of the cylinder portion, the arc rod portion is configured as a C-shaped rod-shaped body and the accommodating hole body I is configured as a rectangular hole-shaped body.

[0024] The present invention designs that the winch is an electric winch and the housing of the winch is connected to the reach arm in a submerged manner, the wire rope of the winch is connected to the telescopic arm in a through-type manner and the end of the wire rope of the winch is connected to the reach arm.

[0025] The technical effects of the above three technical solutions are: realizing the setting of the front telescopic component.

[0026] The present invention is designed that a accommodating groove body I is provided at the outer end of the telescopic arm and a accommodating hole body II is provided on the inner side of the outer end of the telescopic arm, the inner end of the telescopic arm is arranged to be connected with the cylinder shell in a through-type manner and the inner end surface portion of the telescopic arm is arranged to be connected with the displacement telescopic cylinder, the accommodating hole body II is arranged to be connected with the wire rope of the reach arm and the winch in a sleeve-type manner respectively and the inner wall of the accommodating hole body II is arranged to be connected with the pin shaft located on the reach arm, the accommodating groove body I is arranged to be connected with the swing telescopic cylinder in a sleeve-type manner and the inner wall of the accommodating groove body I is arranged to be connected with the pin shaft located on the swing telescopic cylinder.

[0027] The present invention designs that the telescopic arm is configured as a rectangular beam-shaped body, the receiving hole body II is configured as a rectangular hole-shaped body, and the receiving groove body I is configured as a U-shaped groove-shaped body.

[0028] The present invention is designed that a accommodating groove body II is arranged on the inner side of the open part of the cylinder shell and a accommodating groove body III is arranged on the inner side of the end head part of the cylinder shell, the hole body of the cylinder shell is respectively arranged to be accommodatingly connected to the telescopic arm and the displacement telescopic cylinder and the bottom wall of the hole body of the cylinder shell is arranged to be connected to the displacement telescopic cylinder, the cylinder shell is respectively arranged to be through-connected to the first guide beam and the second guide beam and the accommodating groove body II is arranged to be connected to the first guide beam, the accommodating groove body III is arranged to be connected to the second guide beam and the lower end face part of the cylinder shell is arranged to be connected to the lifting telescopic cylinder.

[0029] The present invention designs that the cylindrical shell is configured as a beam-shaped body having a rectangular blind hole, and the accommodating groove body II and the accommodating groove body III are respectively configured as annular groove-shaped bodies.

[0030] The present invention designs that the displacement telescopic cylinder is arranged as a two-section telescopic cylinder and the displacement telescopic cylinder is arranged to be sunk-connected with the cylinder shell, one end of the displacement telescopic cylinder is arranged to be connected with the telescopic arm and the other end of the displacement telescopic cylinder is arranged to be connected with the cylinder shell.

[0031] The technical effect of the above five technical solutions is that the rear telescopic component setting is realized.

[0032] The present invention is designed that the swing telescopic cylinder is arranged as a two-section telescopic cylinder and the telescopic end of the swing telescopic cylinder is arranged to be connected with the extension arm through a pin shaft, the outer shell end of the swing telescopic cylinder is arranged to be connected with the telescopic arm in a sunk manner and the outer shell end of the swing telescopic cylinder is arranged to be connected with the telescopic arm through a pin shaft.

[0033] The technical effect of the above technical solution is that the setting of the intermediate swing component is realized.

[0034] The present invention provides that the housing of the metal detector is arranged to be connected to the probe arm and the output interface of the metal detector is arranged to be connected to the metal detector.

[0035] The technical effect of the above technical solution is that the detection of metal rods is realized.

[0036] The present invention is designed that a receiving groove body IV is respectively provided in the middle part of the first guide beam and the middle part of the second guide beam, and a receiving hole body III is respectively provided in the lower end part of the first guide beam and the lower end part of the second guide beam, the lower end face part of the first guide beam and the lower end face part of the second guide beam are respectively arranged to be connected to the moving chassis and the receiving groove body IV is respectively arranged to be connected to the cylinder shell, and the receiving hole body III is arranged to be connected to the binding rope located on the extending arm.

[0037] The present invention is designed that the first guide beam and the second guide beam are respectively configured as rectangular rod-shaped bodies and the accommodating groove body IV is configured as a long hole-shaped body, the accommodating hole body III is configured as a hole-shaped body and the accommodating hole body III are respectively configured to be arranged and distributed at intervals along the vertical center line of the first guide beam and the vertical center line of the second guide beam.

[0038] The present invention is designed that the lifting telescopic cylinder is arranged as a two-section telescopic cylinder, one end of the lifting telescopic cylinder is arranged to be connected with the cylinder shell, and the other end of the lifting telescopic cylinder is arranged to be connected with the mobile chassis.

[0039] The technical effects of the above three technical solutions are: realizing the movement setting of the lifting guide rail.

[0040] The present invention is designed that the mobile chassis is configured as a towing trailer and the middle portion of the upper end surface of the mobile chassis is configured to be connected to the lifting and telescopic cylinder, one edge portion of the upper end surface of the mobile chassis is configured to be connected to the first guide beam and the other edge portion of the upper end surface of the mobile chassis is configured to be connected to the second guide beam.

[0041] The technical effect of the above technical solution is: achieving motion platform support.

[0042] The present invention is designed that the sonic wave probe, the image pickup head and the metal detector are arranged to be distributed in a manner of being supported by a joint arm, and the sonic wave probe, the image pickup head and the metal detector are arranged to be distributed in a manner of being supported by a first guide beam, a second guide beam, a lifting and lifting cylinder and a moving chassis.

[0043] The present invention is designed that the center line of the sonic probe, the center line of the image pickup head, the center line of the metal detection head, the center line of the probe arm, the center line of the winch, the center line of the telescopic arm, the center line of the swing telescopic cylinder, the center line of the cylinder shell, the center line of the displacement telescopic cylinder, the center line of the first guide beam, the center line of the second guide beam, the center line of the lifting telescopic cylinder and the center line of the moving chassis are arranged on the same straight line, and the accommodating hole body II is arranged to be connected with the arm.

[0044] The present invention designs a method for detecting submerged blocks of river channel ecological retaining walls, and the steps are: an image pickup head is used to realize image recognition detection of submerged blocks of the river channel ecological retaining wall, an acoustic wave probe is used to realize detection position positioning of the image pickup head on the river channel ecological retaining wall, and a movable joint arm assembly is used to realize driving the image pickup head and the acoustic wave probe to move on the river channel ecological retaining wall, thereby realizing setting a detection route on the river channel ecological retaining wall.

[0045] The technical effect of the above technical solution is: highlighting the technical characteristics of setting up a detection route on the river ecological retaining wall, and introducing the application in the technical field of the submerged block detection method for the river ecological retaining wall.

[0046] The present invention is designed, and its steps are: when it is necessary to detect the building blocks immersed in water, the mobile chassis is connected to the tractor, the hydraulic port part of the swing telescopic cylinder, the hydraulic port part of the displacement telescopic cylinder and the hydraulic port part of the lifting telescopic cylinder are connected to the hydraulic device of the tractor, and the mobile chassis is placed on the river bank corresponding to the building blocks to be immersed in water through the tractor, the lifting telescopic cylinder is in a contracted state, the cylinder shell is in a low position state in the accommodating tank body IV, the displacement telescopic cylinder is in an extended state, the telescopic arm is moved outward in the cylinder shell, and the sonic probe, the image pickup head and the metal detector are placed in the tractor. The probe is placed in the river channel, the winch is in working state, the wheel part I and the wheel part II move on the ear seat part, the wheel part I and the wheel part II rotate on the vertical part of the arm, so that the cylinder moves downward along the vertical part of the arm, the sonic probe, the image pickup head and the metal detector are placed in the water, and the distance signal between the image pickup head and the metal detector and the bottom wall of the river channel is picked up by the sonic probe. When the distance between the image pickup head and the metal detector and the bottom wall of the river channel is equal to the specified distance, the winch is placed in non-working state, and the vertical part of the arm is moved on the pin located in the receiving hole body II through the telescopic movement of the swing telescopic cylinder. The axis swings, and the distance signal between the image pickup head and the metal detection head and the river ecological retaining wall is picked up by the sonic probe. When the distance between the image pickup head and the metal detection head and the river ecological retaining wall is equal to the specified distance, the telescopic movement of the swing telescopic cylinder is stopped, so that the image pickup head and the metal detection head are placed outside the river ecological retaining wall, so that the displacement telescopic cylinder and the lifting telescopic cylinder are in linkage movement, and the telescopic arm is moved inward in the cylinder shell by the displacement telescopic cylinder, and the accommodating tank body II is moved upward in the accommodating tank body IV located in the first guide beam by the lifting telescopic cylinder, so that the accommodating tank body III is The accommodating slot body IV located in the second guide beam moves upward, causing the image pickup head and the metal detection head to move upward outside the river ecological retaining wall. The image pickup head picks up image signals of blocks and plants, and the metal detection head picks up signals of anchor rods. The blocks immersed in water are detected based on the image signals of the image pickup head and the signals of the metal detection head. When the detection of the blocks immersed in water is completed, the lifting telescopic cylinder is extended, and the displacement telescopic cylinder is contracted. The winch is used to make the cylinder part in a high position on the arm part, and the binding rope located on the accommodating hole body III is connected to the arc rod part.

[0047] The technical effect of the above technical solution is that it realizes the detection operation of the river ecological retaining wall in the river water.

[0048] In the present technical scheme, the ultrasonic probe and the image pickup head are basic components and are also the necessary technical features of the present invention; the piles, crown beams, plate walls, retaining walls, anchor rods, blocks, plant bodies, metal detectors, reach arms, winches, telescopic arms, swing telescopic cylinders, cylinder shells, displacement telescopic cylinders, first guide beams, second guide beams, lifting telescopic cylinders and mobile chassis are functional components and are features for achieving other technical effects of the present invention; the designs of the technical features of the cylinder portion, arm portion, wheel portion I, wheel portion II, ear seat portion, straight rod portion, arc rod portion, accommodating hole body I, accommodating hole body II, accommodating trough body I, accommodating trough body II, accommodating trough body III, accommodating trough body IV and accommodating hole body III are technical features that comply with the Patent Law and its implementing rules.

[0049] In this technical solution, setting a detection route on the river ecological retaining wall is achieved by an image pickup head and a movable joint arm assembly.

[0050] In this technical solution, the image pickup head, ultrasonic probe and movable joint arm assembly for setting the detection route on the river ecological retaining wall are important technical features. In the technical field of submerged block detection devices and methods for river ecological retaining walls, it has novelty, creativity and practicality. The terms in this technical solution can be explained and understood using patent documents in this technical field. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 This is a schematic diagram of a first embodiment of a detection device for submerged blocks for river ecological retaining walls of the present invention. Figure 2 This is a structural diagram of the river ecological retaining wall. Sonic wave probe-1, image pickup head-2, metal detection head-3, probe arm-4, winch-5, telescopic arm-6, swing telescopic cylinder-7, cylinder shell-8, displacement telescopic cylinder-9, first guide beam-91, second guide beam-92, lifting telescopic cylinder-93, mobile chassis-94, pile column-10, crown beam-20, plate wall-30, retaining wall-40, anchor rod-50, building block-70, plant body-80, cylinder part-41, arm part-42, wheel part I-43, wheel part II-44, ear seat part-45, straight rod part-46, arc rod part-47, accommodating hole body I-48, accommodating hole body II-61, accommodating trough body I-62, accommodating trough body II-81, accommodating trough body III-82, accommodating trough body IV-99, accommodating hole body III-90. DETAILED DESCRIPTION

[0053] According to the Examination Guidelines, terms such as “having”, “including” and “comprising” used in the present invention should be understood as not dispensing with the existence or addition of one or more other elements or combinations thereof.

[0054] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0055] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0056] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. In addition, unless otherwise specified, the equipment and materials used in the following examples are commercially available. If the processing conditions are not clearly stated, please refer to the purchased product manual or proceed according to conventional methods in the art.

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] A detection device for submerged blocks used in river ecological retaining walls. Figure 1 This is one of the first embodiments of the present invention. This embodiment is specifically described in conjunction with the accompanying drawings. It includes an acoustic wave probe 1, an image pickup head 2, a metal detector 3, a probe arm 4, a winch 5, a telescopic arm 6, a swing telescopic cylinder 7, a cylinder shell 8, a displacement telescopic cylinder 9, a first guide beam 91, a second guide beam 92, a lifting telescopic cylinder 93 and a moving chassis 94. The first guide beam 91 and the second guide beam 92 are respectively arranged on the moving chassis 94, a cylinder shell 8 is arranged on the first guide beam 91 and the second guide beam 92, and a lifting telescopic cylinder 93 is arranged between the cylinder shell 8 and the moving chassis 94, a telescopic arm 6 is arranged in the cylinder shell 8, and a displacement telescopic cylinder 9 is arranged between the telescopic arm 6 and the cylinder shell 8, a probe arm 4 is arranged on the telescopic arm 6, and a swing telescopic cylinder 7 is arranged between the probe arm 4 and the telescopic arm 6, and the acoustic wave probe 1, the image pickup head 2, the metal detector 3 and the winch 5 are respectively arranged on the probe arm 4.

[0059] The second embodiment of the present invention is described in detail with reference to the accompanying drawings. The river ecological retaining wall is configured to include piles 10, crown beams 20, board walls 30, retaining walls 40, anchor rods 50, blocks 70 and plant bodies 80, and the piles 10 are configured to be embedded in the inner side surface of the river slope, the upper end surface of the pile 10 is configured to be connected to the lower end surface of the end of the crown beam 20 and the inner end surface of the board wall 30 is configured to be covered with the inner side surface of the river slope, the outer end surface of the board wall 30 is configured to be contacted with the inner end surface of the retaining wall 40 and the anchor rod 50 is configured to be through-connected with the retaining wall 40, the board wall 30 and the inner side surface of the river slope, the outer end surface of the retaining wall 40 is configured to be accommodated with the blocks 70 and the cultivation base located at the plant body 80 is configured to be embedded with the blocks 70.

[0060] The technical purpose is to realize the cultivation of plant bodies 80 in the river channel. The patent number previously applied for is: 2024220725578.

[0061] In this embodiment, the sonic probe 1 is configured as an ultrasonic ranging sensor, and the housing of the sonic probe 1 is configured to be connected to the probe arm 4 , and the output interface of the sonic probe 1 is configured to be connected to the ultrasonic processor.

[0062] The sonic probe 1 forms a support connection point for the probe arm 4, and the sonic probe 1 realizes the connection with the probe arm 4. Its technical purpose is to be used as a component for measuring the distance between the image pickup head 2 and the metal detection head 3 and the river ecological retaining wall. In this embodiment, the image pickup head 2 is configured as an underwater camera and the housing of the image pickup head 2 is configured to be connected to the probe arm 4 , and the output interface of the image pickup head 2 is configured to be connected to the image processor.

[0063] The image pickup head 2 forms a support connection point for the probe arm 4. The image pickup head 2 realizes the connection with the probe arm 4. The technical purpose is to be used as a component for picking up image signals of the building block 70 and the plant body 80. In this embodiment, the housing of the metal detector 3 is configured to be connected to the probe arm 4 and the output interface of the metal detector 3 is configured to be connected to the metal detector.

[0064] A supporting connection point for the probe arm 4 is formed by the metal detector 3 , and the connection with the probe arm 4 is realized by the metal detector 3 . The technical purpose of the metal detector 3 is to be used as a component for detecting signals of the anchor rod 50 .

[0065] In the present embodiment, the probe arm 4 is configured to include a barrel 41, an arm 42, a wheel portion I 43, a wheel portion II 44, an ear seat portion 45, a straight rod portion 46 and an arc rod portion 47, and a receiving hole body I 48 is provided at the upper end of the vertical portion of the arm 42, the upper end hole body of the barrel 41 is configured to be accommodatingly connected to the arm 42 and the upper part of the peripheral side surface of the barrel 41 is configured to be connected to the ear seat portion 45, the ear seat portion 45 is respectively configured to be rotatably connected to the wheel portion I 43 and the wheel portion II 44 through a pin shaft, and the wheel portion I 43 and the wheel portion II 44 are respectively configured to be clamped and connected to the arm 42, the peripheral side surface of the wheel portion I 43 and the peripheral side surface of the wheel portion II 44 are respectively configured to be contact-connected to the vertical portion of the arm 42, and the lower end surface portion of the barrel 41 is configured to be The arm portion 41 is arranged to be connected to the inner end face portion of the straight rod portion 46, the lower portion of the peripheral side surface of the portion 41 is arranged to be connected to the end face portion of the arc rod portion 47 and the middle portion of the vertical portion of the arm portion 42 is arranged to be through-connected to the telescopic arm 6, the middle portion of the vertical portion of the arm portion 42 is arranged to be rotatably connected to the telescopic arm 6 through a pin shaft and the end of the horizontal portion of the arm portion 42 is arranged to be connected to the swing telescopic cylinder 7 through a pin shaft, the accommodating hole body Ⅰ48 is arranged to be accommodatingly connected to the winch 5 and the ear seat portion 45 is arranged to be connected to the end of the wire rope of the winch 5, the outer ends of the straight rod portion 46 are respectively arranged to be connected to the ultrasonic probe 1, the image pickup head 2 and the metal detection head 3 and the arc rod portion 47 is arranged to be connected to the binding rope located on the first guide beam 91 and the second guide beam 92.

[0066] Through the extending arm 4, a supporting connection point for the acoustic wave probe 1, the image pickup head 2, the metal detector 3, the winch 5, the telescopic arm 6 and the swing telescopic cylinder 7 is formed. The straight rod portion 46 realizes the connection with the acoustic wave probe 1, the image pickup head 2, and the metal detector 3. The accommodating hole body Ⅰ48 realizes the connection with the winch 5. The arm portion 42 realizes the connection with the telescopic arm 6 and the swing telescopic cylinder 7. The cylinder portion 41, the wheel portion Ⅰ43, the wheel portion Ⅱ44 and the ear seat portion 45 realize the connection processing for accommodating the arm portion 42. The arc rod portion 47 realizes the connection with the binding rope located on the first guide beam 91 and the second guide beam 92. The technical purpose is to be used as a supporting carrier for the acoustic wave probe 1, the image pickup head 2 and the metal detector 3.

[0067] In this embodiment, the barrel portion 41 is configured as a beam-shaped body having a rectangular blind hole and the arm portion 42 is configured as an L-shaped rod-shaped body having a rectangular cross-section, the wheel portion I 43 and the wheel portion II 44 are respectively configured as disc-shaped bodies and the ear seat portion 45 is configured as an N-shaped double-plate ear seat, the straight rod portion 46 is configured as a rod-shaped body and the straight rod portion 46 is configured to be arranged and distributed at intervals along the lower end surface portion of the barrel portion 41, the arc rod portion 47 is configured as a C-shaped rod-shaped body and the accommodating hole body I 48 is configured as a rectangular hole-shaped body.

[0068] The technical purpose is to realize the telescopic support of the sonic probe 1, the image pickup head 2 and the metal detection head 3.

[0069] In this embodiment, the winch 5 is configured as an electric winch and the shell of the winch 5 is configured to be submerged in connection with the reach arm 4, the wire rope of the winch 5 is configured to be through-connected with the telescopic arm 6 and the end of the wire rope of the winch 5 is configured to be connected to the reach arm 4.

[0070] The winch 5 forms a supporting connection point for the reach arm 4 and the telescopic arm 6. The winch 5 realizes the connection with the reach arm 4 and the telescopic arm 6. Its technical purpose is to serve as a component for driving the reach arm 4 to perform telescopic movement.

[0071] In this embodiment, a receiving groove body I62 is provided at the outer end of the telescopic arm 6 and a receiving hole body II61 is provided on the inner side of the outer end of the telescopic arm 6, the inner end of the telescopic arm 6 is arranged to be through-connected with the cylinder shell 8 and the inner end surface of the telescopic arm 6 is arranged to be connected with the displacement telescopic cylinder 9, the receiving hole body II61 is arranged to be sleeve-connected with the steel wire rope of the reach arm 4 and the winch 5 respectively and the inner wall of the receiving hole body II61 is arranged to be connected with the pin located on the reach arm 4, the receiving groove body I62 is arranged to be sleeve-connected with the swing telescopic cylinder 7 and the inner wall of the receiving groove body I62 is arranged to be connected with the pin located on the swing telescopic cylinder 7.

[0072] Through the telescopic arm 6, a supporting connection point for the reach arm 4, the winch 5, the swing telescopic cylinder 7, the barrel shell 8 and the displacement telescopic cylinder 9 is formed. The accommodating hole body II 61 realizes the connection with the reach arm 4 and the winch 5. The accommodating groove body I 62 realizes the connection with the swing telescopic cylinder 7. The telescopic arm 6 realizes the connection with the barrel shell 8 and the displacement telescopic cylinder 9. The technical purpose is to be used as a component for supporting the reach arm 4 and the swing telescopic cylinder 7.

[0073] In this embodiment, the telescopic arm 6 is configured as a rectangular beam-shaped body, the receiving hole body II 61 is configured as a rectangular hole-shaped body, and the receiving groove body I 62 is configured as a U-shaped groove-shaped body.

[0074] The technical purpose is to achieve beam support for the reach arm 4 and the swing telescopic cylinder 7.

[0075] In this embodiment, the swing telescopic cylinder 7 is configured as a two-section telescopic cylinder and the telescopic end of the swing telescopic cylinder 7 is configured to be connected to the extension arm 4 through a pin shaft, the outer shell end of the swing telescopic cylinder 7 is configured to be sunk-connected to the telescopic arm 6 and the outer shell end of the swing telescopic cylinder 7 is configured to be connected to the telescopic arm 6 through a pin shaft.

[0076] By swinging the telescopic cylinder 7, a supporting connection point for the reach arm 4 and the telescopic arm 6 is formed. The swinging telescopic cylinder 7 realizes the connection with the reach arm 4 and the telescopic arm 6. Its technical purpose is to serve as a component for driving the reach arm 4 to swing on the telescopic arm 6.

[0077] In this embodiment, a accommodating groove body II81 is provided on the inner side of the open portion of the cylinder shell 8 and a accommodating groove body III82 is provided on the inner side of the end portion of the cylinder shell 8, the hole body of the cylinder shell 8 is respectively provided to be accommodatingly connected to the telescopic arm 6 and the displacement telescopic cylinder 9 and the bottom wall of the hole body of the cylinder shell 8 is provided to be connected to the displacement telescopic cylinder 9, the cylinder shell 8 is respectively provided to be through-connected to the first guide beam 91 and the second guide beam 92 and the accommodating groove body II81 is provided to be connected to the first guide beam 91, the accommodating groove body III82 is provided to be connected to the second guide beam 92 and the lower end face portion of the cylinder shell 8 is provided to be connected to the lifting telescopic cylinder 93.

[0078] Through the cylinder shell 8, supporting connection points for the telescopic arm 6, the displacement telescopic cylinder 9, the first guide beam 91, the second guide beam 92 and the lifting telescopic cylinder 93 are formed. The cylinder shell 8 realizes the connection with the telescopic arm 6, the connection with the displacement telescopic cylinder 9, and the connection with the lifting telescopic cylinder 93. The accommodating groove body II 81 realizes the connection with the first guide beam 91, and the accommodating groove body III 82 realizes the connection with the second guide beam 92. The technical purpose is to be used as a component that constitutes a telescopic component with the telescopic arm 6.

[0079] In the present embodiment, the cylindrical shell 8 is configured as a beam-shaped body having a rectangular blind hole, and the accommodating groove body II 81 and the accommodating groove body III 82 are respectively configured as annular groove-shaped bodies.

[0080] The technical purpose is to realize lifting and lowering movement on the first guide beam 91 and the second guide beam 92 .

[0081] In this embodiment, the displacement telescopic cylinder 9 is configured as a two-section telescopic cylinder and the displacement telescopic cylinder 9 is configured to be sunk-connected to the cylinder shell 8, one end of the displacement telescopic cylinder 9 is configured to be connected to the telescopic arm 6 and the other end of the displacement telescopic cylinder 9 is configured to be connected to the cylinder shell 8.

[0082] Through the displacement of the telescopic cylinder 9, a supporting connection point for the telescopic arm 6 and the cylindrical shell 8 is formed. The displacement of the telescopic cylinder 9 realizes the connection with the telescopic arm 6 and the cylindrical shell 8. Its technical purpose is to serve as a component for driving the telescopic arm 6 to move horizontally in the cylindrical shell 8.

[0083] In this embodiment, a receiving groove body IV99 is respectively provided in the middle part of the first guide beam 91 and the middle part of the second guide beam 92, and a receiving hole body III90 is respectively provided at the lower end part of the first guide beam 91 and the lower end part of the second guide beam 92, the lower end surface part of the first guide beam 91 and the lower end surface part of the second guide beam 92 are respectively arranged to be connected to the moving chassis 94 and the receiving groove body IV99 is respectively arranged to be connected to the cylinder shell 8, and the receiving hole body III90 is arranged to be connected to the binding rope located on the extending arm 4.

[0084] Through the first guide beam 91 and the second guide beam 92, supporting connection points for the extending arm 4, the cylinder shell 8 and the moving chassis 94 are formed. The connection with the extending arm 4 is realized by the accommodating hole body III 90, the connection with the cylinder shell 8 is realized by the accommodating groove body IV 99, and the connection with the moving chassis 94 is realized by the first guide beam 91 and the second guide beam 92. The technical purpose is to be used as a supporting carrier for the cylinder shell 8.

[0085] In this embodiment, the first guide beam 91 and the second guide beam 92 are respectively configured as rectangular rod-shaped bodies and the accommodating groove body IV99 is configured as a long hole-shaped body, the accommodating hole body III90 is configured as a hole-shaped body and the accommodating hole body III90 is respectively configured to be arranged and distributed at intervals along the vertical center line of the first guide beam 91 and the vertical center line of the second guide beam 92.

[0086] The technical purpose is to achieve the hole-guiding movement of the cylinder shell 8.

[0087] In this embodiment, the lifting and telescopic cylinder 93 is configured as a two-section telescopic cylinder and one end of the lifting and telescopic cylinder 93 is configured to be connected to the cylinder shell 8 , and the other end of the lifting and telescopic cylinder 93 is configured to be connected to the mobile chassis 94 .

[0088] A supporting connection point for the cylinder shell 8 and the moving chassis 94 is formed by the lifting and telescopic cylinder 93. The lifting and telescopic cylinder 93 realizes the connection with the cylinder shell 8 and the moving chassis 94. Its technical purpose is to serve as a component for driving the cylinder shell 8 to move vertically in the first guide beam 91 and the second guide beam 92.

[0089] In this embodiment, the mobile chassis 94 is configured as a towing trailer and the middle portion of the upper end surface of the mobile chassis 94 is configured to be connected to the lifting and telescopic cylinder 93, one edge portion of the upper end surface of the mobile chassis 94 is configured to be connected to the first guide beam 91 and another edge portion of the upper end surface of the mobile chassis 94 is configured to be connected to the second guide beam 92.

[0090] By moving the chassis 94, supporting connection points for the first guide beam 91, the second guide beam 92 and the lifting and telescopic cylinder 93 are formed. The mobile chassis 94 realizes connection with the first guide beam 91, the second guide beam 92, and the lifting and telescopic cylinder 93. Its technical purpose is to serve as a supporting carrier for the first guide beam 91, the second guide beam 92 and the lifting and telescopic cylinder 93.

[0091] In this embodiment, the acoustic wave probe 1, the image pickup head 2 and the metal detector 3 are arranged to be distributed in the manner of articulated arm support with the probe arm 4, the hoist 5, the telescopic arm 6, the swing telescopic cylinder 7, the shell 8 and the displacement telescopic cylinder 9, and the acoustic wave probe 1, the image pickup head 2, the metal detector 3, the probe arm 4, the hoist 5, the telescopic arm 6, the swing telescopic cylinder 7, the shell 8 and the displacement telescopic cylinder 9 are arranged to be distributed in the manner of articulated arm support with the first guide beam 91, the second guide beam 92, the lifting telescopic cylinder 93 and the mobile chassis 94. The support is distributed in a manner that the center lines of the sonic probe 1, the image pickup head 2, the metal detection head 3, the extension arm 4, the winch 5, the telescopic arm 6, the swing telescopic cylinder 7, the shell 8, the displacement telescopic cylinder 9, the first guide beam 91, the second guide beam 92, the lifting telescopic cylinder 93 and the moving chassis 94 are arranged on the same straight line, and the accommodating hole body II 61 is arranged to be connected to the arm 42.

[0092] The present invention is further described below in conjunction with examples. The following examples are intended to illustrate the present invention rather than to further limit the present invention.

[0093] A method for detecting submerged blocks of river ecological retaining walls, the steps of which are: when it is necessary to detect submerged blocks, a mobile chassis 94 is connected to a tractor, the hydraulic port of a swing telescopic cylinder 7, the hydraulic port of a displacement telescopic cylinder 9, and the hydraulic port of a lifting telescopic cylinder 93 are connected to the hydraulic device of the tractor, and the mobile chassis 94 is placed on a river bank corresponding to the blocks to be detected submerged through the tractor. The lifting telescopic cylinder 93 is in a retracted state, the cylinder shell 8 is in a low position in the receiving tank body IV 99, the displacement telescopic cylinder 9 is in an extended state, the telescopic arm 6 is moved outward in the cylinder shell 8, the sonic probe 1, the image pickup head 2 and the metal detector 3 are placed in the river channel, the winch 5 is in a working state, the wheel part I 43 and the wheel part II 44 move on the ear seat part 45, the wheel part I 43 and the wheel part II 44 rotate on the vertical part of the arm part 42, the cylinder part 41 moves downward along the vertical part of the arm part 42, the sonic probe 1, the image pickup head 2 and the metal detector 3 are placed in the water, and the image pickup head 2 and the metal detector 3 are picked up by the sonic probe 1. The distance signal between the image pickup head 2 and the metal detection head 3 and the bottom wall of the river channel is obtained. When the distance between the image pickup head 2 and the metal detection head 3 and the bottom wall of the river channel is equal to the specified distance, the winch 5 is placed in a non-working state. Through the telescopic movement of the swing telescopic cylinder 7, the vertical part of the arm 42 is swung on the pin shaft located in the accommodating hole body II 61. The distance signal between the image pickup head 2 and the metal detection head 3 and the river channel ecological retaining wall is obtained through the sonic probe 1. When the distance between the image pickup head 2 and the metal detection head 3 and the river channel ecological retaining wall is equal to the specified distance, the telescopic movement of the swing telescopic cylinder 7 is stopped, thereby placing the image pickup head 2 and the metal detection head 3 outside the river channel ecological retaining wall. The displacement telescopic cylinder 9 and the lifting telescopic cylinder 93 are in linkage motion. The telescopic arm 6 is moved inward in the cylinder shell 8 by the displacement telescopic cylinder 9. The accommodating tank body II 81 is moved upward in the accommodating tank body IV 99 located in the first guide beam 91 by the lifting telescopic cylinder 93. The accommodating tank body III 82 is moved upward in the accommodating tank body IV 99 located in the second guide beam 92. The image pickup head 2 and the metal detection head 3 are moved upward outside the river ecological retaining wall. The image pickup head 2 picks up the image signal of the building block 70 and the plant body 80. The metal detection head 3 picks up the signal of the anchor rod 50. The building block 70 immersed in water is detected according to the image signal of the image pickup head 2 and the signal of the metal detection head 3. After completing the inspection of the blocks immersed in water, the lifting telescopic cylinder 93 is extended, the displacement telescopic cylinder 9 is contracted, and the cylinder 41 is placed in a high position on the arm 42 through the winch 5, and the binding rope located on the accommodating hole body III 90 is connected to the arc rod part 47.

[0094] When verifying the present invention, the inventor abandoned the existing technical features that all require manual diving into the water to detect the building blocks, and first proposed the technical feature of setting a detection route on the river ecological retaining wall, and obtained the first unexpected technical effect: close image detection of the river ecological retaining wall in the river water was realized, and the detection results of the building blocks 70 and the plant body 80 were improved. The second unexpected technical effect was obtained: the detection route was completed by horizontal and vertical compound movements, and the detection efficiency of the building blocks 70 and the plant body 80 was improved. The third unexpected technical effect was obtained: the detection operation was completed during the low temperature and dry season in winter, and the influence of environmental factors that limit detection was eliminated. The fourth unexpected technical effect was obtained: the movable joint arm assembly was driven by the acoustic probe 1, the image pickup head 2 and the metal detection head 3 moves, expands the specifications of applicable river ecological retaining walls, and obtains the fifth unexpected technical effect: realizes the detection of the anchor rod 50 of the intermediate fixing part, realizes the three-dimensional space detection of the river ecological retaining wall, and obtains the sixth unexpected technical effect: realizes the active detection driven by the external drive of the first guide beam 91, the second guide beam 92 and the lifting and telescopic cylinder 93, optimizes the detection operation, and improves the reliability of the inspection operation. The seventh unexpected technical effect is achieved: the support by the mobile chassis 94 is achieved, the detection range is increased, and the detection efficiency is improved. The eighth unexpected technical effect is achieved: the winch 5 is suitable for underwater operations, the swing telescopic cylinder 7, the displacement telescopic cylinder 9 and the lifting telescopic cylinder 93 are suitable for water operations, and the service life of the submerged block detection device is extended.

[0095] In the second embodiment of the present invention, the image pickup head 2, the sonic probe 1 and the movable joint arm assembly are connected to each other in a manner of setting a detection route on the river ecological retaining wall.

[0096] In this embodiment, the image pickup head 2 is connected to the sonic probe 1 and the movable joint arm assembly in a manner of performing image recognition detection on the submerged blocks of the river ecological retaining wall.

[0097] In this embodiment, the movable articulated arm assembly includes an outreaching arm 4 , a winch 5 , a telescopic arm 6 , a swing telescopic cylinder 7 , a cylinder shell 8 and a displacement telescopic cylinder 9 .

[0098] In this embodiment, a first accessory device is further included and is arranged on the movable joint arm assembly. The first accessory device is arranged as a metal detector head 3 .

[0099] In this embodiment, a second accessory device is also included and is arranged on the movable joint arm assembly. The second accessory device is arranged to include a first guide beam 91 , a second guide beam 92 , a lifting and telescopic cylinder 93 and a moving chassis 94 .

[0100] The second embodiment of the present invention is based on the first embodiment. In the second embodiment of the present invention, the image pickup head 2 is used to perform image recognition detection on the immersed blocks of the river ecological retaining wall, the sonic probe 1 is used to locate the detection position of the image pickup head 2 on the river ecological retaining wall, and the movable joint arm assembly is used to drive the image pickup head 2 and the sonic probe 1 to move on the river ecological retaining wall, thereby setting a detection route on the river ecological retaining wall.

[0101] The second embodiment of the present invention is based on the first embodiment. The present invention has the following characteristics: 1. Due to the design of the image pickup head 2, the sonic probe 1 and the movable joint arm assembly, the image pickup head 2 is used to realize image recognition detection of the immersed blocks of the river ecological retaining wall, the sonic probe 1 is used to realize the detection position positioning of the image pickup head 2 on the river ecological retaining wall, and the movable joint arm assembly is used to drive the image pickup head 2 and the sonic probe 1 to move on the river ecological retaining wall, and realize the setting of the detection route on the river ecological retaining wall, which solves the technical problem of needing to manually dive into the water to detect the blocks, thereby improving the detection effect of the immersed blocks.

[0102] 2. Due to the design of the reach arm 4, the winch 5, the telescopic arm 6, the swing telescopic cylinder 7, the cylinder shell 8 and the displacement telescopic cylinder 9, a telescopic component with a middle hinge is realized.

[0103] 3. Due to the design of the metal detection head 3, the connection part of the anchor rod 50 can be detected.

[0104] 4. Due to the design of the first guide beam 91, the second guide beam 92, the lifting and telescopic cylinder 93 and the moving chassis 94, the setting of the moving lifting components is realized.

[0105] 5. Since the design limits the numerical range of the structural shape, the numerical range is the technical feature in the technical solution of the present invention, rather than a technical feature calculated by a formula or obtained through a limited number of tests. Tests have shown that the technical feature of this numerical range has achieved good technical effects.

[0106] 6. Due to the design of the technical features of the present invention, the effects of the individual and combined technical features have been shown through experiments to have various performance indicators of the present invention that are at least 1.7 times the existing performance indicators, and have been evaluated to have good market value.

[0107] There are other technical features connected with the image pickup head 2, the ultrasonic probe 1 and the movable joint arm assembly for setting the detection route on the river ecological retaining wall, which are all embodiments of the present invention, and the technical features of the above-mentioned embodiments can be combined arbitrarily. In order to meet the requirements of the Patent Law, the Patent Implementing Rules and the Examination Guidelines, all possible combinations of the technical features in the above-mentioned embodiments will no longer be described.

[0108] The above embodiment is only one implementation form of the device and method for detecting submerged blocks for river ecological retaining walls provided by the present invention. Other variations of the scheme provided by the present invention, adding or reducing components or steps therein, or applying the present invention to other technical fields close to the present invention, all fall within the scope of protection of the present invention.

Claims

1. A detection device for submerged blocks used in river ecological retaining walls, characterized by: The invention comprises an image pickup head (2) for picking up image signals of a river ecological retaining wall, a sonic wave probe (1) for positioning the image pickup head (2) on the river ecological retaining wall, and a movable joint arm assembly arranged on the sonic wave probe (1) and the image pickup head (2).

2. The submerged block detection device for river ecological retaining wall according to claim 1 is characterized in that: The image pickup head (2), the sonic probe (1) and the movable joint arm assembly are connected to each other in a manner of setting a detection route on the river ecological retaining wall.

3. The submerged block detection device for river ecological retaining wall according to claim 2 is characterized in that: The image pickup head (2) is connected with the sonic probe (1) and the movable joint arm assembly in a manner of performing image recognition detection on the submerged blocks of the river ecological retaining wall.

4. The submerged block detection device for river ecological retaining wall according to claim 1 is characterized in that: The movable joint arm assembly comprises an extension arm (4), a winch (5), a telescopic arm (6), a swing telescopic cylinder (7), a cylinder shell (8) and a displacement telescopic cylinder (9). Or, it further comprises a first accessory device and the first accessory device is arranged on the movable joint arm assembly, and the first accessory device is arranged as a metal detection head (3), Or, it also includes a second accessory device and the second accessory device is arranged on the movable joint arm assembly, and the second accessory device is arranged to include a first guide beam (91), a second guide beam (92), a lifting and telescopic cylinder (93) and a movable chassis (94).

5. The submerged block detection device for river ecological retaining wall according to claim 4 is characterized in that: A first guide beam (91) and a second guide beam (92) are respectively arranged on a mobile chassis (94); a cylinder shell (8) is arranged on the first guide beam (91) and the second guide beam (92); a lifting telescopic cylinder (93) is arranged between the cylinder shell (8) and the mobile chassis (94); a telescopic arm (6) is arranged in the cylinder shell (8); a displacement telescopic cylinder (9) is arranged between the telescopic arm (6) and the cylinder shell (8); a probe arm (4) is arranged on the telescopic arm (6); a swing telescopic cylinder (7) is arranged between the probe arm (4) and the telescopic arm (6); and a wave probe (1), an image pickup head (2), a metal detector (3) and a winch (5) are respectively arranged on the probe arm (4).

6. The submerged block detection device for river ecological retaining wall according to claim 5 is characterized in that: The river channel ecological retaining wall is configured to include piles (10), crown beams (20), board walls (30), retaining walls (40), anchor rods (50), blocks (70) and plant bodies (80), and the piles (10) are configured to be embedded in the inner side of the river channel slope, the upper end face of the piles (10) is configured to be connected to the lower end face of the end of the crown beam (20), and the inner end face of the board wall (30) is configured to be covered in the inner side of the river channel slope, the outer end face of the board wall (30) is configured to be contact-connected to the inner end face of the retaining wall (40), and the anchor rod (50) is configured to be through-connected to the retaining wall (40), the board wall (30) and the inner side of the river channel slope, the outer end face of the retaining wall (40) is configured to be accommodated in the block (70), and the cultivation base located at the plant body (80) is configured to be embedded in the block (70).

7. The submerged block detection device for river ecological retaining wall according to claim 5 is characterized by: The sonic probe (1) is configured as an ultrasonic distance measuring sensor and the housing of the sonic probe (1) is configured to be connected to the probe arm (4). The output interface of the sonic probe (1) is configured to be connected to the ultrasonic processor. Or, the image pickup head (2) is configured as an underwater camera and the housing of the image pickup head (2) is configured to be connected to the extension arm (4), and the output interface of the image pickup head (2) is configured to be connected to the image processor, Alternatively, the probe arm (4) is configured to include a barrel (41), an arm (42), a wheel portion I (43), a wheel portion II (44), an ear seat portion (45), a straight rod portion (46) and an arc rod portion (47), and a receiving hole body I (48) is provided at the upper end of the vertical portion of the arm (42), the upper end hole body of the barrel (41) is configured to be received and connected to the arm (42), and the upper part of the peripheral side surface of the barrel (41) is configured to be connected to the ear seat portion (45), the ear seat portion (45) is configured to be rotatably connected to the wheel portion I (43) and the wheel portion II (44) through a pin shaft, and the wheel portion I (43) and the wheel portion II (44) are configured to be clamped and connected to the arm (42), the peripheral side surface of the wheel portion I (43) and the peripheral side surface of the wheel portion II (44) are configured to be contact-connected to the vertical portion of the arm (42), and the lower end surface of the barrel (41) is configured to be connected to the vertical portion of the arm (42). The arm (42) is configured to be connected to the inner end face of the straight rod (46), the lower part of the peripheral side surface of the arm (41) is configured to be connected to the end face of the arc rod (47), and the middle part of the vertical part of the arm (42) is configured to be connected to the telescopic arm (6) in a through-type manner, the middle part of the vertical part of the arm (42) is configured to be rotatably connected to the telescopic arm (6) through a pin shaft, and the end of the horizontal part of the arm (42) is configured to be connected to the swing telescopic cylinder (7) through a pin shaft, the receiving hole body I (48) is configured to be connected to the hoist (5) in a receiving manner, and the ear seat portion (45) is configured to be connected to the end of the wire rope of the hoist (5), the outer end of the straight rod (46) is configured to be connected to the sonic probe (1), the image pickup head (2) and the metal detection head (3), respectively, and the arc rod portion (47) is configured to be connected to the binding rope located on the first guide beam (91) and the second guide beam (92), Or, the barrel (41) is configured as a beam-shaped body with a rectangular blind hole and the arm (42) is configured as an L-shaped rod-shaped body with a rectangular cross-section, the wheel portion I (43) and the wheel portion II (44) are respectively configured as disc-shaped bodies and the ear seat portion (45) is configured as an N-shaped double-plate ear seat, the straight rod portion (46) is configured as a rod-shaped body and the straight rod portion (46) is configured to be arranged and distributed along the lower end face portion of the barrel (41), the arc rod portion (47) is configured as a C-shaped rod-shaped body and the receiving hole body I (48) is configured as a rectangular hole-shaped body, Alternatively, the winch (5) is configured as an electric winch and the housing of the winch (5) is configured to be submergedly connected to the reach arm (4), the steel wire rope of the winch (5) is configured to be through-connected to the telescopic arm (6) and the end of the steel wire rope of the winch (5) is configured to be connected to the reach arm (4), Alternatively, a receiving groove body I (62) is provided at the outer end of the telescopic arm (6) and a receiving hole body II (61) is provided on the inner side of the outer end of the telescopic arm (6); the inner end of the telescopic arm (6) is arranged to be connected to the cylindrical shell (8) in a through-type manner and the inner end surface of the telescopic arm (6) is arranged to be connected to the displacement telescopic cylinder (9); the receiving hole body II (61) is arranged to be connected to the steel wire rope of the reach arm (4) and the winch (5) in a sleeve-type manner and the inner wall of the receiving hole body II (61) is arranged to be connected to the pin located on the reach arm (4); the receiving groove body I (62) is arranged to be connected to the swing telescopic cylinder (7) in a sleeve-type manner and the inner wall of the receiving groove body I (62) is arranged to be connected to the pin located on the swing telescopic cylinder (7); Alternatively, the telescopic arm (6) is configured as a rectangular beam-shaped body, the receiving hole body II (61) is configured as a rectangular hole-shaped body, and the receiving groove body I (62) is configured as a U-shaped groove-shaped body, Or, the swing telescopic cylinder (7) is configured as a two-section telescopic cylinder and the telescopic end of the swing telescopic cylinder (7) is configured to be connected to the reach arm (4) via a pin shaft, the outer shell end of the swing telescopic cylinder (7) is configured to be connected to the telescopic arm (6) in a sunken manner and the outer shell end of the swing telescopic cylinder (7) is configured to be connected to the telescopic arm (6) via a pin shaft, Or, a receiving groove body II (81) is arranged inside the open part of the cylinder shell (8) and a receiving groove body III (82) is arranged inside the end part of the cylinder shell (8), the hole body of the cylinder shell (8) is respectively arranged to be received and connected with the telescopic arm (6) and the displacement telescopic cylinder (9) and the bottom wall of the hole body of the cylinder shell (8) is arranged to be connected with the displacement telescopic cylinder (9), the cylinder shell (8) is respectively arranged to be connected with the first guide beam (91) and the second guide beam (92) in a through-type manner and the receiving groove body II (81) is arranged to be connected with the first guide beam (91), the receiving groove body III (82) is arranged to be connected with the second guide beam (92) and the lower end face part of the cylinder shell (8) is arranged to be connected with the lifting telescopic cylinder (93), Or, the cylindrical shell (8) is configured as a beam-shaped body having a rectangular blind hole, and the accommodating groove body II (81) and the accommodating groove body III (82) are respectively configured as annular groove-shaped bodies, Or, the displacement telescopic cylinder (9) is configured as a two-section telescopic cylinder and the displacement telescopic cylinder (9) is configured to be connected to the cylinder shell (8) in a sinking manner, one end of the displacement telescopic cylinder (9) is configured to be connected to the telescopic arm (6) and the other end of the displacement telescopic cylinder (9) is configured to be connected to the cylinder shell (8), Or, the housing of the metal detector (3) is configured to be connected to the probe arm (4) and the output interface of the metal detector (3) is configured to be connected to the metal detector, Alternatively, a receiving groove body IV (99) is provided at the middle part of the first guide beam (91) and the middle part of the second guide beam (92), and a receiving hole body III (90) is provided at the lower end of the first guide beam (91) and the lower end of the second guide beam (92), respectively; the lower end face of the first guide beam (91) and the lower end face of the second guide beam (92) are respectively arranged to be connected to the moving chassis (94) and the receiving groove body IV (99) is respectively arranged to be connected to the cylinder shell (8), and the receiving hole body III (90) is arranged to be connected to the binding rope located on the extension arm (4); Or, the first guide beam (91) and the second guide beam (92) are respectively configured as rectangular rod-shaped bodies and the receiving groove body IV (99) is configured as a long hole-shaped body, the receiving hole body III (90) is configured as a hole-shaped body and the receiving hole body III (90) is respectively configured to be arranged and distributed at intervals along the vertical center line of the first guide beam (91) and the vertical center line of the second guide beam (92), Or, the lifting and telescopic cylinder (93) is configured as a two-section telescopic cylinder and one end of the lifting and telescopic cylinder (93) is configured to be connected to the cylinder shell (8), and the other end of the lifting and telescopic cylinder (93) is configured to be connected to the moving chassis (94). Alternatively, the mobile chassis (94) is configured to be a towing trailer and the middle portion of the upper end surface of the mobile chassis (94) is configured to be connected to the lifting and telescopic cylinder (93), one edge portion of the upper end surface of the mobile chassis (94) is configured to be connected to the first guide beam (91) and another edge portion of the upper end surface of the mobile chassis (94) is configured to be connected to the second guide beam (92).

8. The submerged block detection device for river ecological retaining wall according to any one of claims 1 to 9, characterized in that: The sonic probe (1), the image pickup head (2), the metal detector (3), the probe arm (4), the hoist (5), the telescopic arm (6), the swing telescopic cylinder (7), the cylinder shell (8), and the displacement telescopic cylinder (9) are arranged to be distributed in a manner of being supported by a joint arm rod, and the sonic probe (1), the image pickup head (2), the metal detector (3), the probe arm (4), the hoist (5), the telescopic arm (6), the swing telescopic cylinder (7), the cylinder shell (8), and the displacement telescopic cylinder (9) are arranged to be distributed in a manner of being supported by a lifting motion platform, Alternatively, the center line of the sonic probe (1), the center line of the image pickup head (2), the center line of the metal detection head (3), the center line of the probe arm (4), the center line of the winch (5), the center line of the telescopic arm (6), the center line of the swing telescopic cylinder (7), the center line of the cylinder shell (8), the center line of the displacement telescopic cylinder (9), the center line of the first guide beam (91), the center line of the second guide beam (92), the center line of the lifting telescopic cylinder (93) and the center line of the moving chassis (94) are arranged on the same straight line, and the receiving hole body II (61) is arranged to be connected to the arm part (42).

9. A method for detecting submerged blocks for river ecological retaining walls, characterized in that the steps are: The image pickup head (2) is used to perform image recognition detection on the submerged blocks of the river channel ecological retaining wall, the sonic wave probe (1) is used to locate the detection position of the image pickup head (2) on the river channel ecological retaining wall, and the movable joint arm assembly is used to drive the image pickup head (2) and the sonic wave probe (1) to move on the river channel ecological retaining wall, thereby realizing the setting of a detection route on the river channel ecological retaining wall.

10. The method for detecting submerged blocks for river ecological retaining walls according to claim 9 is characterized in that the steps are: When it is necessary to inspect the blocks immersed in water, the mobile chassis (94) is connected to a tractor, and the hydraulic ports of the swing telescopic cylinder (7), the displacement telescopic cylinder (9) and the lifting telescopic cylinder (93) are connected to the hydraulic device of the tractor. The mobile chassis (94) is placed on the river bank corresponding to the blocks to be inspected in water through the tractor, and the lifting telescopic cylinder (93) is placed in a retracted state, the cylinder shell (8) is placed in a low position in the receiving tank body IV (99), the displacement telescopic cylinder (9) is placed in an extended state, the telescopic arm (6) is moved outward in the cylinder shell (8), the sonic probe (1), the image pickup head (2) and the metal detector (3) are placed in the river, and the winch (5) is placed in a In the working state, the wheel part I (43) and the wheel part II (44) move on the ear seat part (45), and the wheel part I (43) and the wheel part II (44) rotate on the vertical part of the arm part (42), so that the cylinder part (41) moves downward along the vertical part of the arm part (42), and the sonic probe (1), the image pickup head (2) and the metal detector head (3) are placed in the water. The distance signal between the image pickup head (2) and the metal detector head (3) and the bottom wall of the river channel is picked up by the sonic probe (1). When the distance between the image pickup head (2) and the metal detector head (3) and the bottom wall of the river channel is equal to the specified distance, the winch (5) is placed in the non-working state, and the vertical part of the arm part (42) is moved to the position of the receiving hole body II (61) through the telescopic movement of the swing telescopic cylinder (7). ) is swung, and the distance signal between the image pickup head (2) and the metal detection head (3) and the river ecological retaining wall is picked up by the sonic probe (1). When the distance between the image pickup head (2) and the metal detection head (3) and the river ecological retaining wall is equal to the specified distance, the telescopic movement of the swing telescopic cylinder (7) is stopped, so that the image pickup head (2) and the metal detection head (3) are placed outside the river ecological retaining wall, and the displacement telescopic cylinder (9) and the lifting telescopic cylinder (93) are in linkage movement. The displacement telescopic cylinder (9) causes the telescopic arm (6) to move inward in the cylinder shell (8), and the lifting telescopic cylinder (93) causes the accommodating tank body II (81) to move upward in the accommodating tank body IV (99) located in the first guide beam (91). , the receiving tank body III (82) is moved upward in the receiving tank body IV (99) located in the second guide beam (92), and the image pickup head (2) and the metal detection head (3) are moved upward outside the river ecological retaining wall, the image pickup head (2) picks up the image signal of the building block (70) and the plant body (80), and the metal detection head (3) picks up the signal of the anchor rod (50), and the building block (70) immersed in the water is detected according to the image signal of the image pickup head (2) and the signal of the metal detection head (3). After the detection of the building block immersed in the water is completed, the lifting telescopic cylinder (93) is placed in an extended state, and the displacement telescopic cylinder (9) is placed in a contracted state. Through the winch (5), the cylinder (41) is placed in a high position on the arm (42).Connect the binding rope on the receiving hole body III (90) to the arc rod part (47).

Images